CN113059580A

CN113059580A - Intelligent robot for ostomy patient

Info

Publication number: CN113059580A
Application number: CN202110488998.4A
Authority: CN
Inventors: 王方; 徐晓霞; 王刚成; 刘英俊; 张国强; 王红丽
Original assignee: Henan Cancer Hospital
Current assignee: Henan Cancer Hospital
Priority date: 2021-05-06
Filing date: 2021-05-06
Publication date: 2021-07-02
Anticipated expiration: 2041-05-06
Also published as: CN113059580B

Abstract

The invention belongs to the technical field of advanced manufacturing and automation, and particularly discloses an intelligent robot for an ostomy patient, which comprises a robot shell, wherein a movement mechanism is arranged at the bottom end of the robot shell, a collection cavity, a supply cavity and a control mechanism are arranged in the robot shell, an ostomy bag collection mechanism is arranged in the collection cavity, and an ostomy bag supply mechanism is arranged in the supply cavity; the control mechanism comprises a panoramic camera arranged at the top end of the robot shell, an identification camera, a laser radar, a distance sensor, a control processor arranged in the robot shell and a rechargeable battery pack electrically connected with the control processor, a timing module is arranged on the controller, and the control processor is electrically connected with a touch display screen and a sound alarm arranged on the robot shell; and the robot shell is provided with an operation button electrically connected with the control processor.

Description

Intelligent robot for ostomy patient

Technical Field

The invention belongs to the field of advanced manufacturing and automation, relates to the technical field of robots in advanced manufacturing processes and equipment, particularly relates to the technical field of advanced service robots and automatic production lines, and particularly relates to an intelligent robot for ostomy patients.

Background

The stoma is caused by diseases of digestive system or urinary system, and the intestinal canal needs to be separated through surgical treatment, and one end of the intestinal canal is led out to the body surface (anus or urethra is moved to abdominal wall) to form an opening. The stoma can achieve the purposes of reducing intestinal pressure, relieving obstruction, protecting anastomosis or injury of a distal intestinal canal, promoting the recovery of intestinal and urinary tract diseases, and even saving the life of a patient. The ostomy patient is making the pocket in-process using, when making in the pocket excrement full of, the patient that makes the mouth need clear up the excrement in making the pocket, but make the old and weak of the patient majority, this kind of patient does not have self-walking ability after making a mouthful for a period of time, patient's side mostly has the accompanying person to accompany, but accompanying person can not nurse in real time for 24 hours, because china is getting into the aging society, many old patients do not accompany the person to nurse in the working day yet, only can the holiday relatives of the festival visit before, the thing of discharging in making the pocket can not be cleared up for a long time, very easily lead to the peculiar smell to appear in the health, can feel pessimistic disappointing to the life even, lose confidence to long-term survival.

Because the nurse is young women mostly, the male sex patient of most independent treatment is difficult to open the tooth to young nurse and makes the pocket change, leads to the patient most to go to the bathroom by oneself and makes the pocket change, but because operation initial stage patient is weak, goes to the bathroom in-process and falls down easily, very easily causes to make the interior excrement of pocket and reveals, leads to the patient health to be infected with the excrement, has aggravated patient's pessimistic mood, produces the psychology of lightly giving birth to easily.

Disclosure of Invention

In order to solve a series of problems caused by treatment of an ostomy patient, the intelligent robot for the ostomy patient is capable of realizing supply of the ostomy bag, collection of the ostomy bag, cleaning of the ostomy bag, improving the survival confidence of the patient and realizing intelligent movement and stopping.

Based on the above purpose, the invention is realized by the following technical scheme:

an intelligent robot for ostomy patients comprises a robot shell, wherein a movement mechanism is arranged at the bottom end of the robot shell, a collection cavity, a supply cavity and a control mechanism are arranged in the robot shell, an ostomy bag collection mechanism is arranged in the collection cavity, and an ostomy bag supply mechanism is arranged in the supply cavity; the control mechanism comprises a panoramic camera arranged at the top end of the robot shell, an identification camera, a laser radar, a distance sensor, a control processor arranged in the robot shell and a rechargeable battery pack electrically connected with the control processor, a timing module is arranged on the controller, and the control processor is electrically connected with a touch display screen and a sound alarm arranged on the robot shell; and the robot shell is provided with an operation button electrically connected with the control processor.

Preferably, the movement mechanism comprises at least three support structures which are axisymmetric relative to the bottom surface of the robot shell, at least three movable structures which are axisymmetric relative to the bottom surface of the robot shell, and a moving structure which is in clearance fit with the support structures and the movable structures; any supporting structure comprises a fixed sleeve which is obliquely arranged on the bottom surface of the robot shell, a movable sleeve which is in threaded connection with the fixed sleeve is arranged on the fixed sleeve, a supporting motor is arranged in the fixed sleeve and is connected with a telescopic rotating shaft which is arranged in the movable sleeve and is connected with the movable sleeve, a rotating shaft connecting rod is arranged at one end of the telescopic rotating shaft, which is far away from the movable sleeve, and the rotating shaft connecting rod is fixedly connected with the fixed sleeve; the bottom end of the movable sleeve is provided with a supporting chassis which is rotationally connected with the movable sleeve; any movable structure comprises a supporting leg groove in clearance fit with the fixed sleeve, a telescopic movable supporting leg in clearance fit with the supporting leg groove is arranged in the supporting leg groove, the telescopic movable supporting leg comprises a supporting leg support rod arranged in the supporting leg groove, and a movable wheel structure and an adjusting frame matched with the movable wheel structure are arranged at the bottom end of the supporting leg support rod; the support leg support rods are provided with support leg steering mechanisms; the telescopic rotating shaft comprises a plurality of sections of rotating shaft supporting rods which are mutually sleeved, a pair of supporting rod bulges which are symmetrical relative to the rotating shaft supporting rod shaft are arranged on any rotating shaft supporting rod, and the supporting rod bulges are matched with supporting rod grooves arranged in the rotating shaft supporting rods.

Preferably, the movable wheel structure comprises a pair of movable wheels, an adjusting support rod is arranged on a movable shaft of any movable wheel, the adjusting support rods are connected through an adjusting spring, a matched adjusting sleeve is arranged at the top end of each adjusting support rod, and the adjusting sleeve is connected with an adjusting rotating shaft arranged on the adjusting frame; the adjusting sleeves are provided with adjusting gears which are connected with adjusting motors arranged on the adjusting frames; the adjusting frame is provided with a pair of limiters matched with the adjusting support rods, each limiter comprises a limiting rod which is arranged on the adjusting support rod and is rotatably connected with the adjusting support rod, each limiting rod is matched with a limiting groove which is uniformly distributed on the side surface of the corresponding support leg support rod, and the bottom end of each limiting groove is provided with a reset bulge; one side of the limiting rod, which is close to the supporting rod of the supporting foot, is provided with an adjusting electromagnet, and the adjusting electromagnet is matched with a reset electromagnet arranged on the supporting rod of the supporting foot; the limiting rod is provided with a return spring connected with the adjusting support rod.

Preferably, the moving structure comprises a moving groove arranged on the bottom surface of the robot shell, an electric hydraulic push rod is arranged in the moving groove, a moving support is arranged at the movable end of the electric hydraulic push rod, a moving wheel is arranged at the bottom end of the moving support, a moving shaft matched with the moving support is arranged on the axis of the moving wheel, and the moving shaft is connected with a moving motor arranged on the moving support through a moving speed reducing wheel; the electric hydraulic push rod is rotationally connected with the moving groove through a moving bearing, and a moving synchronous wheel is arranged on the moving bearing; the moving structure also comprises a moving connecting rod arranged on the electric hydraulic push rod; the movable bearing is arranged on the movable connecting rod, and the top end of the movable connecting rod is matched with the movable synchronous wheel; the bottom end of the movable connecting rod is provided with a movable turntable, and the bottom end of the movable turntable is provided with a pair of movable telescopic connecting rods matched with the electric hydraulic push rod; the supporting leg steering mechanism comprises a steering bearing arranged on the supporting leg supporting rod and a steering synchronizing wheel arranged at the top end of the supporting leg supporting rod, and the steering bearing is connected with the supporting leg groove; the steering synchronous wheel and the moving synchronous wheel are connected with a steering motor arranged in the robot shell through the steering synchronous belts connected end to end, and the diameters of the steering synchronous wheel and the moving synchronous wheel are equal.

Preferably, the ostomy bag supplying mechanism comprises a storage cavity, the storage cavity is matched with a storage opening arranged on the robot shell, and a storage sealing cover is arranged on the storage opening; the supply cavity is internally provided with an ostomy bag transmission structure matched with the storage cavity, and the ostomy bag transmission structure comprises an ostomy bag transmission structure and an ostomy bag absorber matched with the ostomy bag transmission structure; the ostomy bag transmission structure comprises a driving transmission wheel, a driven transmission wheel I, a driven transmission wheel II and an ostomy bag transmission belt matched with the driving transmission wheel, the driven transmission wheel I and the driven transmission wheel II, wherein ostomy bag transmission plates are uniformly distributed on the ostomy bag transmission belt; the driving transmission wheel is arranged right below the driven transmission wheel I, the driven transmission wheel II is arranged obliquely above the driven transmission wheel I, an outlet slide way is arranged on one side of the driven transmission wheel II, which is far away from the driven transmission wheel I, and the outlet slide way is matched and communicated with a supply groove arranged on the robot shell; the driving transmission wheel is connected with a transmission motor.

Preferably, the ostomy bag absorber comprises an adsorption telescopic push rod, guide slide bars are arranged on two sides of the adsorption telescopic push rod, and the guide slide bars are connected with the movable end of the adsorption telescopic push rod through guide brackets; the movable end of the adsorption telescopic push rod is provided with a negative pressure sucker which is communicated with a negative pressure cavity arranged in the supply cavity through a sucker branch pipe, and the negative pressure cavity is provided with a negative pressure air pump; the adsorption telescopic push rod is fixed in the supply cavity through an adsorption rotating shaft, an adsorption motor is arranged in the supply cavity, and the adsorption motor is connected with an adsorption synchronous wheel arranged on the adsorption rotating shaft through an adsorption synchronous belt; the bottom end of the guide slide bar is provided with an anti-falling bulge; branch pipe control valves are arranged on the sucker branch pipes; the negative pressure sucker is provided with an exhaust valve and a sucker position sensor. The movable end of the adsorption telescopic push rod is provided with a plurality of adjusting connecting rods in clearance fit with the negative pressure suckers, and one ends of the adjusting connecting rods, which are far away from the adsorption telescopic push rod, are provided with adjusting disks; one side of the ostomy bag transmission plate is provided with a transmission plate folding mechanism, the transmission plate folding mechanism comprises a folding bulge arranged on the ostomy bag transmission belt, the folding bulge is provided with a folding shaft rotationally connected with the ostomy bag transmission plate, one end of the folding shaft is provided with a folding gear, and the folding gear is matched with a miniature folding motor arranged on the ostomy bag transmission belt; the folding shaft is provided with a reset torsion spring.

Preferably, the ostomy bag collecting mechanism comprises a throwing port arranged on the robot shell and a collecting conveying belt arranged in the collecting cavity and matched with the throwing port, and the collecting conveying belt is arranged below the throwing port; one end of the collecting and conveying belt, which is far away from the throwing port, is provided with a storage and cleaning structure; a throwing protective plate matched with the collecting conveyor belt is arranged on the inner side of the throwing port; criss-cross protective lines are laid on the collecting and conveying belt, and a plurality of conveying position sensors are arranged on the collecting and conveying belt.

Preferably, the storage and cleaning structure comprises a storage cylinder, and a sliding structure matched with the collection cavity is arranged on the outer side surface of the storage cylinder; a T-shaped sliding groove is formed in one side, close to the robot shell, of the storage cylinder, a plurality of side cleaning concave wheels are arranged on the opposite side, and a bottom cleaning concave wheel and a bottom guide concave wheel are arranged on the bottom surface of the storage cylinder; the T-shaped sliding groove is matched with the sliding protrusion arranged on the collecting cavity, and the bottom end of the T-shaped sliding groove is provided with a rotating anti-falling groove; a cleaning pull rope is arranged on the bottom cleaning concave wheel and is matched with a cleaning motor arranged on the robot shell through the bottom guide concave wheel and the side cleaning concave wheel in sequence; the side of the storage cylinder is provided with a side reset concave wheel matched with the side cleaning concave wheel at staggered intervals, the top surface is provided with a top reset concave wheel and a top guide concave wheel, a reset pull rope is arranged on the top reset concave wheel, and the reset pull rope is matched with a reset motor arranged in the collection cavity through the top guide concave wheel and the side reset concave wheel in sequence.

Preferably, the sliding structure comprises a plurality of sliding cams arranged on a T-shaped sliding groove, a plurality of moving bulges in staggered clearance fit with the side cleaning concave wheel and the reset concave wheel are arranged on one side opposite to the T-shaped sliding groove, and transfer cams in running fit with the moving bulges are arranged on the moving bulges; the sliding cam is matched with a sliding groove arranged in the collecting cavity; the transfer cam is matched with a transfer groove arranged in the collection cavity; the robot shell is provided with a storage port matched with the top surface of the storage cylinder; one side of the storage cylinder, which is close to the collection conveying belt, is provided with a collection port, and the opposite side is provided with a cleaning port; a proximity sensor is arranged in the storage cylinder.

Preferably, the control processor is electrically connected with the panoramic camera, the supporting motor, the adjusting electromagnet, the reset electromagnet, the electric hydraulic push rod, the moving motor, the steering motor, the transmission motor, the adsorption telescopic push rod, the adsorption motor, the exhaust valve, the negative pressure air pump, the branch pipe control valve, the miniature folding motor, the sucker position sensor, the transmission position sensor, the cleaning motor, the reset motor and the proximity sensor; and a charging socket matched with the rechargeable battery pack is arranged on the robot shell.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, the movement mechanism is arranged at the bottom end of the robot shell, so that the aim of moving the robot shell is fulfilled, and the robot shell can conveniently realize automatic movement and operation; the ostomy bag collecting mechanism can realize the collection work of the ostomy bag used by the patient, and is convenient for the centralized collection treatment of the ostomy bag taken down by the patient; the ostomy bag supply mechanism is convenient for providing a new ostomy bag for a patient and is convenient for the patient to change the ostomy bag; the panoramic camera is convenient for the intelligent robot to detect the environment and the running route in real time, and the intelligent robot can realize automatic obstacle avoidance action conveniently; the control mechanism is convenient for the intelligent robot to automatically collect and process information, so that the supply, collection and processing actions of the ostomy bag are realized, the intelligent robot is convenient for realizing intelligent service for patients, and the survival confidence of the patients is improved; the identification camera can identify the patient, preset time is set by recording the change time of the ostomy bag of the patient, and a timing module is used for timing, so that an autonomous reminding function is conveniently realized, and the patient is reminded to change the ostomy bag; the setting of touch display screen not only can remind through the transform of touch display screen colour, and the maintainer of still being convenient for and the user control, and the sound alarm ware is convenient to remind through the mode that sound was reminded, conveniently reminds the patient to change and makes the pocket, reminds passerby to dodge etc. and operating button's setting makes things convenient for the patient to operate, makes the pocket supply.

(2) More than three support structures can form a stable support effect on the robot shell; more than three movable structures are convenient for stably supporting the robot shell when the robot shell moves, so that the robot shell is prevented from toppling or shaking; the moving structure is convenient for driving the robot shell to move; the fixed sleeve is matched with the movable sleeve, so that the robot shell can be supported; the support motor drives the telescopic rotating shaft to move, so that the rotating shaft connecting rod rotates in the fixed sleeve to drive the movable sleeve to move, the movable sleeve is telescopic in the fixed sleeve, the aim of adjusting the lifting of the robot shell is fulfilled, and the aim of intelligently adjusting the robot shell is conveniently fulfilled; the arrangement of the supporting chassis further improves the stability of the robot when the shell stops; the arrangement of the support leg groove is convenient for the telescopic movable support leg to retract or extend, when the robot shell needs to move, the telescopic movable support leg extends out, and when the robot shell needs to stop, the telescopic movable support leg retracts, and the support structure is utilized to support the robot shell; the supporting leg and the supporting rod are matched with the adjusting frame, so that the movable wheel structure is conveniently supported and adjusted; the design of stabilizer blade steering mechanism makes things convenient for the robot casing to realize turning to the function, realizes this intelligent robot's the action that turns to.

(3) The adjusting support rod can drive the movable wheel to move, and the adjusting support rod can be conveniently adjusted by arranging the adjusting spring; the matched adjusting sleeves facilitate the pair of adjusting support rods to form rotary connection with the adjusting rotating shaft, so that the matching between the adjusting support rods is conveniently realized; the adjusting motor drives the adjusting gear to move, so that the pair of adjusting support rods are driven to move relatively, and the purpose of adjusting the adjusting support rods is achieved; the arrangement of the limiting stopper can ensure that the adjusting support rod and the support rod of the support leg form a stable fixed relation, so that the structure of the movable wheel can keep a stable supporting state when the movable wheel moves conveniently; the limiting rod is matched with the limiting groove, so that the adjusting support rod can be limited, and the adjusting support rod is prevented from rotating; the reset bulge can push up the limiting rod to prevent the limiting rod from contacting the limiting groove again; the adjusting electromagnet is matched with the reset electromagnet, mutual attraction or repulsion between the adjusting electromagnet and the reset electromagnet can be realized through intelligent control of the control processor, and the purpose of automatic intelligent limiting rod limiting or resetting is realized; reset spring can prevent that the gag lever post laminating from preventing that the gag lever post can not carry out iterative limiting displacement on adjusting support rod.

(4) The movable groove is matched with the electric hydraulic push rod, so that the movable support can be conveniently stretched, the movable support extends out when moving is realized, and the movable support retracts when the moving is stopped, and the intelligent adjustment purpose is realized; the moving wheel is rotationally connected with the moving support through the moving shaft, so that the moving motor can drive the moving wheel to move through the moving speed reducing wheel conveniently; the moving bearing is connected with the moving groove, so that the purpose of steering the moving structure is conveniently realized; the steering bearing facilitates the steering connection of the support leg support rod and the robot shell; the steering synchronous wheels and the movable synchronous wheels are driven by the steering motor to perform steering motion through the steering synchronous belts which are adjacent from head to tail, so that the intelligent robot can perform steering motion conveniently; the setting that turns to the hold-in range makes the motor that turns to can the synchronous drive turn to the synchronizing wheel, remove the synchronizing wheel and move, through synchronous motion, can accurate realization this intelligent robot turn to the purpose. The steering motor is set as a servo motor.

(5) The storage cavity is convenient for temporarily storing a new ostomy bag, and the ostomy bag is convenient for the patient to be provided; the storage opening is sealed by the sealing cover, so that the ostomy bag is prevented from being polluted by the outside, and the use safety of the ostomy bag can be ensured; the ostomy bag transmission structure is convenient for adsorbing and transmitting the ostomy bag in the storage cavity, so that the supply purpose of the ostomy bag is realized; the ostomy bag adsorber can adsorb an ostomy bag, transmits the ostomy bag through an ostomy bag transmission belt, and slides to the supply groove through the outlet slide way to supply the ostomy bag for a patient; the driving transmission wheel, the auxiliary transmission wheel I and the auxiliary transmission wheel II are arranged at positions which can not only avoid the influence on the absorption of the ostomy bag, but also facilitate the transfer of the absorbed ostomy bag through the ostomy bag transmission belt; the transmission motor conveniently drives the driving transmission wheel to move, and the transmission effect is achieved.

(6) The guide sliding rods on the two sides of the adsorption telescopic push rod play a role in guiding, and the adsorption telescopic push rod is prevented from inclining during stretching; the guide support is convenient for connecting the guide sliding rod with the movable end of the adsorption telescopic push rod, so that the guide purpose is realized; the negative pressure sucker can adsorb the ostomy bag in the storage cavity, so that the ostomy bag is convenient to transfer; the negative pressure air pump performs negative pressure adsorption on the negative pressure cavity, so that an instantaneous negative pressure effect can be formed, and the negative pressure sucker can perform quick negative pressure adsorption on the ostomy bag conveniently; the adsorption motor drives the adsorption rotating shaft to move through the adsorption synchronous belt, so that the adsorption telescopic push rod and the guide sliding rod are rotated, the adsorption-finished ostomy bag is conveniently transferred, and the ostomy bag is quickly transferred to the ostomy bag conveying belt; the anti-falling bulge has a limiting effect on the adsorption telescopic push rod; the branch pipe control valve realizes the control purpose and is convenient to carry out the adsorption and separation functions on the ostomy bag; the exhaust valve facilitates the ventilation operation of the negative pressure sucker, and the effect of quickly separating the ostomy bag is realized.

(7) The placing port is matched with the collecting conveyor belt, so that the ostomy bag placed by the patient through the placing port can be conveniently conveyed into the storage and cleaning mechanism, and the collected ostomy bag is temporarily stored through the storage and cleaning mechanism; the arrangement of the throwing-in protective plate can protect the ostomy bag thrown through the throwing-in opening, so that the ostomy bag can fall onto the collecting and conveying belt conveniently, and the ostomy bag is placed to be separated from the collecting and conveying belt; the criss-cross protective lines can effectively increase the friction force, and the ostomy bag can be conveniently and quickly transferred into the storage and cleaning structure; whether put in on the pocket is made in the setting of transmission position sensor, can real-time detection collection conveyer belt, and when detecting that the pocket is made and put in the back, the control treater starts to collect the conveyer belt and transports the pocket.

(8) The storage cylinder temporarily stores the collected ostomy bag; the sliding structure can clean the ostomy bag in the temporary storage cylinder; the T-shaped sliding groove is matched with the sliding bulge, so that the storage cylinder can conveniently move up and down in the collection cavity; the rotating anti-drop groove prevents the storage cylinder from dropping from the collecting cavity, and under the action of the sliding protrusion, when the storage cylinder moves up to the top end, the sliding protrusion is positioned in the rotating anti-drop groove, at the moment, the storage cylinder cannot move upwards continuously and can only rotate along with the rotating anti-drop groove, so that the aim of rotating the storage cylinder is fulfilled; the side cleaning concave wheel is matched with the bottom cleaning concave wheel, the cleaning motor drives the cleaning pull rope to pull the storage cylinder to move upwards under the adjustment of the direction of the side cleaning concave wheel, so that the storage cylinder is driven to incline, and the purpose of dumping the ostomy bag in the storage cylinder is realized; the reset motor drives the reset stay cord on the top reset concave wheel, and drives the storage cylinder to move downwards under the direction adjustment of the side reset concave wheel, so that the storage cylinder is driven to recover to an initial state, and the aim of resetting the storage cylinder is finally realized.

(9) The sliding cam is matched with the sliding groove, and the transfer cam is matched with the transfer groove to realize the guiding function on the storage cylinder, so that the storage cylinder can be always kept in an initial use state when moving and resetting, and the cleaning work and the ostomy bag collecting work of the storage cylinder are conveniently realized; the cleaning port is convenient for cleaning the ostomy bag during cleaning, and the collecting port is convenient for collecting the ostomy bag; after a certain number of ostomy bags in the storage cylinder are collected, the proximity sensor detects the ostomy bags and transmits data to the control processor, and the control processor controls the intelligent robot to move to a preset treatment point to clean the ostomy bags in the storage cylinder.

(10) The control processor analyzes and processes the external environment through the panoramic camera, identifies the patient through the identification camera, calculates the time for changing the ostomy bag of the patient next time through identification, sends light signals through the touch display screen, sends sound reminding through the sound alarm, and timely reminds the patient, analyzes data through the sucker position sensor, the transmission position sensor, the proximity sensor and the like, and regulates and controls through the supporting motor, the adjusting electromagnet, the reset electromagnet, the electric hydraulic push rod, the moving motor, the steering motor, the transmission motor, the adsorption telescopic push rod, the adsorption motor, the negative pressure air pump, the branch pipe control valve, the miniature folding motor, the cleaning motor and the reset motor, so that the function of the intelligent robot is realized; the charging socket is convenient for intelligent charging action when the electric quantity of the rechargeable battery pack is reduced or is idle.

In conclusion, the movement mechanism can realize the intelligent movement and steering of the shell of the robot, is convenient for the intelligent robot to perform intelligent movement, is convenient for the intelligent robot to perform ostomy bag supply and collection actions on more patients, and greatly reduces the working intensity of nursing personnel; the ostomy bag collecting mechanism is used for collecting ostomy bags used by patients, is convenient for collecting and treating the ostomy bags taken down by the patients in a centralized manner, and can clean the collected ostomy bags in time; the ostomy bag supply mechanism is convenient for providing a new ostomy bag for a patient and is convenient for the patient to change the ostomy bag; through the setting, the patient just can realize the change work of making the pocket on the sick bed, greatly reduced patient's amount of exercise for the patient can make the pocket change in the environment of privacy, has promoted patient's dignity, has reduced patient's uncomfortable and has felt, has promoted patient's survival confidence greatly.

Drawings

FIG. 1 is a schematic front view of the present invention in example 1;

FIG. 2 is a schematic view of the back side structure of the present invention in example 1;

fig. 3 is a bottom view of the robot housing in embodiment 1;

FIG. 4 is a schematic structural view of the support structure in example 1;

FIG. 5 is a schematic structural view of a movable structure in embodiment 1;

FIG. 6 is a schematic structural view of a movable structure in embodiment 1;

FIG. 7 is a schematic structural view of a moving structure in embodiment 1;

FIG. 8 is a plan view of the inner bottom surface of the robot housing in embodiment 1;

FIG. 9 is a schematic view of the structure of a supply chamber in embodiment 1;

FIG. 10 is a schematic view of the adsorber of the ostomy bag according to example 1;

FIG. 11 is a schematic structural view of a negative pressure chuck in accordance with example 1;

FIG. 12 is a schematic view of the structure of a collecting chamber in example 1;

FIG. 13 is a schematic structural view of a memory cleaning structure in embodiment 1;

FIG. 14 is a right side view of the memory cleaning structure in embodiment 1;

FIG. 15 is a schematic structural view of a T-shaped sliding groove in embodiment 1;

fig. 16 is a structural view of the sliding protrusion in embodiment 1.

In the figure, 1, a robot shell, 2, an identification camera, 3, a panoramic camera, 4, a touch display screen, 5, a putting-in opening, 6, a collection cavity, 7, a motion mechanism, 8, a supply cavity, 9, a supply groove, 10, a supply opening, 11, an operation button, 12, a storage opening, 13, a storage sealing cover, 14, a charging socket, 15, a rechargeable battery pack, 701, a support structure, 702, a support leg groove, 703, a movable structure, 704, a movable groove, 705, a movable structure, 706, a support motor, 707, a rotating shaft connecting rod, 708, a fixed sleeve, 709, a telescopic rotating shaft, 710, a support chassis, 711, a movable sleeve, 712, a support leg support rod, 713, a steering synchronous wheel, 714, a steering bearing, 715, an adjusting bracket, 716, an adjusting sleeve, 717, an adjusting rotating shaft, 718, an adjusting support rod, 719, a movable shaft, 720, a movable wheel, 721, a reset spring, 722, a limiting rod, 723. a reset bump, 724, a limit groove, 725, a moving connecting rod, 726, a moving telescopic connecting rod, 727, a moving shaft, 728, a moving wheel, 729, a moving speed reducing wheel, 730, a moving motor, 731, an electric hydraulic push rod, 732, a moving turntable, 733, a moving bearing, 734, a steering synchronous belt, 735, a steering motor, 736, a moving synchronous wheel, 737, a moving bracket, 801, a storage chamber, 802, a storage port, 803, an ostomy bag absorber, 804, a slave transmission wheel I, 805, an ostomy bag transmission belt, 806, an ostomy bag transmission plate, 807, a slave transmission wheel II, 808, an outlet slideway, 809, a driving transmission wheel, 810, a transmission motor, 811, an adsorption motor, 812, an adsorption synchronous belt, 813, an adsorption synchronous wheel, 814, an adsorption rotating shaft, 815, a guide sliding rod, 816, an adsorption telescopic push rod, 817, a guide bracket, 818, a negative pressure sucker, 819, a sucker, a branch pipe 820, a branch pipe control valve, 821. exhaust valve, 601, collection conveying belt, 602, release guard plate, 603, collection conveying motor, 604, reset motor, 605, collection port, 606, cleaning port, 607, sliding protrusion, 608, storage cylinder, 609, cleaning motor, 610, bottom cleaning concave wheel, 611, bottom guide concave wheel, 612, side cleaning concave wheel, 613, reset pull rope, 614, side reset concave wheel, 615, side cleaning concave wheel, 616 side reset concave wheel, 617, side reset concave wheel, 618, transfer cam, 619, side cleaning concave wheel, 620, top guide concave wheel, 621, top reset concave wheel, 622, sliding cam, 623, T-shaped sliding groove, 624, rotation anti-slip groove, 625, cleaning pull rope, 626 and 626.

Detailed Description

The present invention is further illustrated by the following specific examples, which are not intended to limit the scope of the invention.

Example 1

An intelligent robot for ostomy patients is structurally shown in figures 1-16, wherein figure 5 is a schematic view of a movable wheel structure in use state during working, figure 6 is a schematic view of a movable wheel structure in initial state when lifted, and a storage sealing cover 13 is not shown on a storage port 802 in figure 9; the robot comprises a robot shell 1, wherein a movement mechanism 7 is arranged at the bottom end of the robot shell 1, a collection cavity 6, a supply cavity 8 and a control mechanism are arranged in the robot shell 1, an ostomy bag collection mechanism is arranged in the collection cavity 6, and an ostomy bag supply mechanism is arranged in the supply cavity 8; the control mechanism comprises a panoramic camera 3, an identification camera 2, a laser radar, a distance sensor, a control processor and a rechargeable battery pack 15, wherein the panoramic camera 3, the identification camera 2, the laser radar and the distance sensor are arranged at the top end of the robot shell 1, the control processor is arranged in the robot shell 1, the rechargeable battery pack 15 is electrically connected with the control processor, a timing module is arranged on the controller, and the control processor is electrically connected with a touch display screen 4 and a sound alarm which are arranged on the robot shell 1; the robot housing 1 is provided with an operation button 11 electrically connected with the control processor.

The movement mechanism 7 comprises at least three support structures 701 which are axisymmetric relative to the bottom surface of the robot shell 1, at least three movable structures 703 axisymmetric relative to the bottom surface of the robot shell 1, and a moving structure 705 in clearance fit with the support structures 701 and the movable structures 703; any supporting structure 701 comprises a fixed sleeve 708 which is obliquely arranged on the bottom surface of the robot shell 1, a movable sleeve 711 which is in threaded connection with the fixed sleeve 708 is arranged on the fixed sleeve 708, a supporting motor 706 is arranged in the fixed sleeve 708, the supporting motor 706 is connected with a telescopic rotating shaft 709 which is arranged in the movable sleeve 711 and connected with the movable sleeve 711, a rotating shaft connecting rod 707 is arranged at one end of the telescopic rotating shaft 709 which is far away from the movable sleeve 711, and the rotating shaft connecting rod 707 is fixedly connected with the fixed sleeve 708; the bottom end of the movable sleeve 711 is provided with a supporting base plate 710 which is rotatably connected with the movable sleeve 711; any movable structure 703 comprises a supporting foot groove 702 in clearance fit with the fixed sleeve 708, a telescopic movable supporting foot in clearance fit with the supporting foot groove 702 is arranged in the supporting foot groove 702, the telescopic movable supporting foot comprises a supporting foot supporting rod 712 arranged in the supporting foot groove 702, and a movable wheel structure and an adjusting frame 715 matched with the movable wheel structure are arranged at the bottom end of the supporting foot supporting rod 712; the leg struts 712 are all provided with leg steering mechanisms; the telescopic shaft 709 includes a plurality of sections of shaft struts that are sleeved with each other, and a pair of strut protrusions that are symmetrical to the shaft strut is provided on any shaft strut, and the strut protrusions are matched with strut grooves provided in the shaft struts.

The movable wheel structure comprises a pair of movable wheels 720, an adjusting support rod 718 is arranged on a movable shaft 719 of any movable wheel 720, the adjusting support rods 718 are connected through an adjusting spring, a matched adjusting sleeve 716 is arranged at the top end of each adjusting support rod 718, and the adjusting sleeve 716 is connected with an adjusting rotating shaft 717 arranged on an adjusting frame 715; the adjusting sleeves 716 are all provided with adjusting gears which are connected with adjusting motors arranged on the adjusting frames 715; the adjusting bracket 715 is provided with a pair of stoppers which are matched with the adjusting support rod 718, each stopper comprises a limiting rod 722 which is arranged on the adjusting support rod 718 and is rotatably connected with the adjusting support rod 718, the limiting rods 722 are matched with limiting grooves 724 which are uniformly distributed on the side surfaces of the supporting rod 712 of the supporting legs, and the bottom ends of the limiting grooves 724 are provided with reset bulges 723; one side of the limiting rod 722 close to the supporting rod 712 of the supporting foot is provided with an adjusting electromagnet, and the adjusting electromagnet is matched with a reset electromagnet arranged on the supporting rod 712 of the supporting foot; the limiting rod 722 is provided with a return spring 721 connected with the adjusting rod 718.

The moving structure 705 comprises a moving groove 704 arranged on the bottom surface of the robot shell 1, an electric hydraulic push rod 731 is arranged in the moving groove 704, a moving support 737 is arranged at the movable end of the electric hydraulic push rod 731, a moving wheel 728 is arranged at the bottom end of the moving support 737, a moving shaft 727 matched with the moving support 737 is arranged on the axis of the moving wheel 728, and the moving shaft 727 is connected with a moving motor 730 arranged on the moving support 737 through a moving speed reducing wheel 729; the electric hydraulic push rod 731 is rotationally connected with the moving groove 704 through a moving bearing 733, and a moving synchronous wheel 736 is arranged on the moving bearing 733; the moving structure 705 further comprises a moving link 725 disposed on the electro-hydraulic push rod 731; the movable bearing 733 is arranged on the movable connecting rod 725, and the top end of the movable connecting rod 725 is matched with the movable synchronous wheel 736; the bottom end of the movable connecting rod 725 is provided with a movable rotary table 732, and the bottom end of the movable rotary table 732 is provided with a pair of movable telescopic connecting rods 726 matched with the electric hydraulic push rod 731; the foot steering mechanism comprises a steering bearing 714 arranged on the foot support 712 and a steering synchronizing wheel 713 arranged at the top end of the foot support 712, the steering bearing 714 is connected with the foot groove 702; the steering synchronizing wheel 713 and the moving synchronizing wheel 736 are connected to a steering motor 735 provided in the robot housing 1 through a steering synchronizing belt 734 connected end to end, and the diameters of the steering synchronizing wheel 713 and the moving synchronizing wheel 736 are equal.

The ostomy bag supply mechanism comprises a storage cavity 801, the storage cavity 801 is matched with a storage opening 802 arranged on the robot shell 1, and a storage sealing cover 13 is arranged on the storage opening 802; the supply cavity 8 is internally provided with an ostomy bag transmission structure matched with the storage cavity 801, and the ostomy bag transmission structure comprises an ostomy bag transmission structure and an ostomy bag absorber 803 matched with the ostomy bag transmission structure; the ostomy bag conveying structure comprises a driving conveying wheel 809, a driven conveying wheel I804, a driven conveying wheel II 807 and an ostomy bag conveying belt 805 matched with the driving conveying wheel 809, the driven conveying wheel I804 and the driven conveying wheel II 807, wherein ostomy bag conveying plates 806 are uniformly distributed on the ostomy bag conveying belt 805; the driving transmission wheel 809 is arranged right below the driven transmission wheel I804, the driven transmission wheel II 807 is arranged obliquely above the driven transmission wheel I804, an outlet slide way 808 is arranged on one side of the driven transmission wheel II 807, which is far away from the driven transmission wheel I804, and the outlet slide way 808 is matched and communicated with the supply groove 9 arranged on the robot shell 1; the driving transmission wheel 809 is connected with a transmission motor 810. The ostomy bag absorber 803 comprises an adsorption telescopic push rod 816, guide slide bars 815 are arranged on two sides of the adsorption telescopic push rod 816, and the guide slide bars 815 are connected with the movable end of the adsorption telescopic push rod 816 through guide supports 817; a negative pressure sucking disc 818 is arranged at the movable end of the adsorption telescopic push rod 816, the negative pressure sucking disc 818 is communicated with a negative pressure cavity arranged in the supply cavity 8 through a sucking disc branch pipe 819, and a negative pressure air pump is arranged on the negative pressure cavity; the adsorption telescopic push rod 816 is fixed in the supply cavity 8 through an adsorption rotating shaft 814, an adsorption motor 811 is arranged in the supply cavity 8, and the adsorption motor 811 is connected with an adsorption synchronous wheel 813 arranged on the adsorption rotating shaft 814 through an adsorption synchronous belt 812; the bottom end of the guide slide bar 815 is provided with an anti-drop bulge; a branch pipe control valve 820 is arranged on the suction cup branch pipe 819; the vacuum chuck 818 is provided with an exhaust valve 821, and the vacuum chuck 818 is provided with a chuck position sensor.

A plurality of adjusting connecting rods in clearance fit with the negative pressure sucker 818 are arranged at the movable end of the adsorption telescopic push rod 816, and adjusting disks are arranged at the ends, far away from the adsorption telescopic push rod 816, of the adjusting connecting rods; a driving plate folding mechanism is arranged on one side of the ostomy bag driving plate 806, the driving plate folding mechanism comprises a folding protrusion arranged on the ostomy bag conveying belt 805, a folding shaft rotationally connected with the ostomy bag driving plate 806 is arranged on the folding protrusion, a folding gear is arranged at one end of the folding shaft, and the folding gear is matched with a miniature folding motor arranged on the ostomy bag conveying belt 805; the folding shaft is provided with a reset torsion spring.

The ostomy bag collecting mechanism comprises a throwing opening 5 arranged on the robot shell 1 and a collecting conveyor belt 601 which is arranged in the collecting cavity 6 and is matched with the throwing opening 5, and the collecting conveyor belt 601 is arranged below the throwing opening 5; one end of the collecting and conveying belt 601 far away from the throwing port 5 is provided with a storage and cleaning structure; a throwing-in guard plate 602 matched with the collecting conveyor belt 601 is arranged on the inner side of the throwing-in opening 5; criss-cross protective lines are laid on the collecting conveyor belt 601, and a plurality of conveying position sensors are arranged on the collecting conveyor belt 601.

The storage cleaning structure comprises a storage cylinder 608, and a sliding structure matched with the collection cavity 6 is arranged on the outer side surface of the storage cylinder 608; a T-shaped sliding groove 623 is arranged on one side of the storage cylinder 608 close to the robot shell 1, a plurality of side cleaning concave wheels 612, 615 and 619 are arranged on the opposite side, and a bottom cleaning concave wheel 610 and a bottom guide concave wheel 611 are arranged on the bottom surface; the T-shaped sliding groove 623 is matched with a sliding protrusion 607 arranged on the collecting cavity 6, and the bottom end of the T-shaped sliding groove 623 is provided with a rotary anti-drop groove 624; a cleaning pull rope 625 is arranged on the bottom cleaning concave wheel 610, and the cleaning pull rope 625 is matched with a cleaning motor 609 arranged on the robot shell 1 sequentially through a bottom guide concave wheel 611, side cleaning concave wheels 612, 615 and 619; the side surface of the storage cylinder 608 is provided with side reset concave wheels 614, 616 and 617 which are matched with the side cleaning concave wheels 612, 615 and 619 at intervals in a staggered way, the top surface of the storage cylinder is provided with a top reset concave wheel 621 and a top guide concave wheel 620, the top reset concave wheel 621 is provided with a reset pull rope 613, and the reset pull rope 613 is matched with a reset motor 604 arranged in the collection cavity 6 through the top guide concave wheel 620 and the side reset concave wheels 617, 616 and 614 in sequence. The sliding structure comprises a plurality of sliding cams 622 arranged on a T-shaped sliding groove 623, a plurality of moving bulges in staggered clearance fit with the side cleaning

concave wheels

612, 615, 619 and the reset concave wheel are arranged on one side opposite to the T-shaped sliding groove 623, and transfer cams 618 in running fit with the moving bulges are arranged on the moving bulges; the sliding cam 622 cooperates with a sliding groove provided in the collection chamber 6; the transfer cam 618 cooperates with a transfer groove provided in the collection chamber 6; the robot shell 1 is provided with a storage port 12 matched with the top surface of the storage cylinder 608; a collecting port 605 is arranged on one side of the storage cylinder 608 close to the collecting conveying belt 601, and a cleaning port 606 is arranged on the opposite side; a proximity sensor is disposed within the reservoir 608.

The control processor is electrically connected with the panoramic camera 3, the supporting motor 706, the adjusting motor, the adjusting electromagnet, the reset electromagnet, the electric hydraulic push rod 731, the moving motor 730, the steering motor 735, the transmission motor 810, the adsorption telescopic push rod 816, the adsorption motor 811, the exhaust valve 821, the negative pressure air pump, the branch pipe control valve 820, the miniature folding motor, the sucking disc position sensor, the transmission position sensor, the cleaning motor 609, the reset motor 604 and the proximity sensor; the robot housing 1 is provided with a charging socket 14 for mating with a rechargeable battery pack 15.

The use method of the intelligent robot for the ostomy patient comprises the following steps:

the first step is as follows: preparing for primary use;

at first through touch display screen 4 to control mechanism's system of predetermineeing adjust and timing and parameter setting, make things convenient for this intelligent robot to carry out analysis and data contrast, then open and deposit sealed lid 13, place the ostomy bag in putting into storage chamber 801 through depositing mouthful 802, then close and deposit sealed lid 13, carry out charging work for this intelligent robot through charging socket 14, through the charging of a period of time, the electric quantity detection module of control treater detects the back that rechargeable battery group 15 electric quantity is sufficient, the control treater is controlled motion 7, this intelligent robot breaks away from the interface that charges, begin to provide intelligent service for the ostomy patient.

The second step is that: the intelligent robot moves and stops;

moving the intelligent robot; when the intelligent robot stops, the supporting structure 701 is in contact with the ground, and the movable structure 703 and the moving structure 705 are not in contact with the ground; when the intelligent robot needs to move, the control processor controls the movement mechanism 7, the movable structure 703 and the movable structure 705 are in contact with the ground through extension, and the supporting structure 701 has a gap with the ground through contraction, so that the intelligent robot can drive the movable structure 703 to move through the movement mechanism conveniently, and the purpose of moving the intelligent robot is achieved; the detailed steps of the expansion or contraction of the movable structure 703, the movable structure 705 and the support structure 701 are; the control processor starts the adjusting motor to rotate forwards, because the adjusting motor gear at the movable end of the adjusting motor is meshed with the pair of adjusting gears, when the adjusting motor gear rotates forwards, one of the adjusting gears rotates forwards, the other adjusting gear rotates backwards, one of the adjusting gears drives the adjusting sleeve 716 connected with the adjusting gear to rotate forwards, the other adjusting gear drives the adjusting sleeve 716 connected with the adjusting gear to rotate backwards, because the adjusting sleeve 716 is sleeved on the adjusting rotating shaft 717 on the adjusting frame 715, the pair of adjusting support rods 718 move downwards, and simultaneously the control processor starts the adjusting electromagnet and the reset electromagnet, so that the adjusting electromagnet and the reset electromagnet are attracted mutually, under the action of electromagnetic attraction, the limit rod 722 is close to the support rod 712 and is contacted with the support rod 712, the adjusting motor continues to rotate forwards, the limit rod 722 starts to be connected with the limit groove 724 on the support rod 712, and when the adjusting motor rotates forwards for a certain time, the control processor controls the adjusting motor to stop.

At this time, the limit rod 722 is clamped at a preset position of the limit groove 724, a certain fixed angle is formed between the adjusting support rods 718, the movable wheel 720 on the movable shaft 719 is in close contact with the ground, as shown in fig. 5, the movable wheel 720 is in a working and using state, and the control processor closes the adjusting electromagnet and the resetting electromagnet; when the adjusting motor is started, the control processor controls the electric hydraulic push rod 731 under the moving connecting rod 725 in the moving groove 704 to extend to drive the moving support 737 to move downwards, so that the moving telescopic connecting rods 726 on two sides of the moving support 737 extend along with the moving support 737, and after the electric hydraulic push rod 731 is completely extended, the moving wheel 728 is in close contact with the ground; after the movable structure 703 and the movable structure 705 are stretched, the control processor starts the support motor 706 to rotate forward, the support motor gear at the movable end of the support motor 706 drives the rotating shaft gear on the retractable rotating shaft 709 to move, the rotating shaft gear drives the retractable rotating shaft 709 to rotate forward, the rotating shaft struts of the retractable rotating shaft 709 are all provided with strut protrusions, when the retractable rotating shaft 709 rotates due to the strut protrusions, the rotating shaft struts rotate synchronously with the retractable rotating shaft 709, the retractable rotating shaft 709 of the forward rotation drives the movable sleeve 711 to rotate forward, the movable sleeve 711 of the forward rotation starts to move upwards along the fixed sleeve 708 as the movable sleeve 711 of the forward rotation is connected with the fixed sleeve 708 through the connecting rod bearing, the support motor 706 can drive the retractable rotating shaft 709 to move conveniently, after the support motor 706 rotates forward for a period of time, the control processor controls the support motor 706 to stop, and the support structure 701 is retracted; the control processor starts to start the moving motor 730, the moving motor 730 drives the moving shaft 727 to move through the moving speed reducing wheel 729, so that the moving wheel 728 can be driven to move, all the moving wheels 720 are driven to move accordingly, and the intelligent robot starts to move; when the intelligent robot observes that the obstacle needs to be avoided through the panoramic camera 3, the control processor steering motor 735 drives the steering synchronous belt 734 to move, so as to drive the steering synchronous wheel 713 and the movable synchronous wheel 736 to move along with the movement, because the support leg supporting rod 712 is connected with the steering synchronous wheel 713 through the steering bearing 714 in the support leg groove 702, the movable connecting rod 725 on the movable turntable 732 is connected with the movable synchronous wheel 736 through the movable bearing 733 in the movable groove 704, therefore, the steering motor 735 can easily drive the steering synchronous wheel 713 and the movable synchronous wheel 736 to steer, and the purpose of steering the intelligent robot is achieved.

Stopping the intelligent robot; the intelligent robot moves to the position near a sickbed, safety stopping action is required to be carried out for ensuring the safety of ostomy bag collection and supply, and a patient is identified through the identification camera 2; firstly, the processor is controlled to start the support motor 706 to rotate reversely, the reverse telescopic rotating shaft 709 drives the movable sleeve 711 to rotate reversely, the reverse movable sleeve 711 starts to move downwards along the fixed sleeve 708, the telescopic rotating shaft 709 extends along with the downward movement of the movable sleeve 711, the rotating shaft connecting rod 707 is connected with the fixed sleeve 708 through a connecting rod bearing, the support motor 706 can drive the telescopic rotating shaft 709 to move conveniently, after the support motor 706 rotates reversely for a period of time, the processor is controlled to stop the support motor 706, the extension of the support structure 701 is completed, and the support chassis 710 is in close contact with the ground; the control processor starts the adjusting motor to rotate forwards, so that the pair of adjusting support rods 718 continuously move downwards on the adjusting rotating shaft 717, after the adjusting support rods move downwards for a certain distance, the limit rod 722 is separated from the support rod 712 due to the blocking of the reset bulge 723 and the action of the reset spring 721, and the limit rod 722 loses action; then the control processor controls the adjusting motor gears to rotate reversely, so that one of the adjusting gears rotates reversely, the other adjusting gear rotates forwards, one of the adjusting gears drives the adjusting sleeve 716 connected with the adjusting gear to rotate reversely, the other adjusting gear drives the adjusting sleeve 716 connected with the adjusting gear to rotate forwards, and the adjusting sleeve 716 is sleeved on the adjusting rotating shaft 717 on the adjusting frame 715, so that the pair of adjusting support rods 718 start to move upwards.

Meanwhile, the control processor starts the adjusting electromagnet and the reset electromagnet to enable the adjusting electromagnet and the reset electromagnet to be mutually exclusive, the limiting rod 722 is continuously far away from the supporting rod 712 of the supporting foot under the action of electromagnetic attraction, the adjusting motor continuously rotates reversely, after the adjusting motor rotates reversely for a certain time, the control processor controls the adjusting motor to stop, at the moment, the movable wheel 720 on the movable shaft 719 is far away from the ground, and as shown in fig. 6, the movable wheel 720 is in a lifting initial state; when the adjusting motor rotates reversely, the control processor controls the electric hydraulic push rod 731 under the moving connecting rod 725 in the moving groove 704 to contract to drive the moving support 737 to move upwards, the moving telescopic connecting rods 726 on two sides of the moving support 737 contract along with the moving support 737, and after the electric hydraulic push rod 731 contracts, the moving wheel 728 is far away from the ground; at this time, only the support structure 701 is in contact with the ground, and the purpose of safely stopping the intelligent robot can be achieved.

The third step: supply of ostomy bags;

after the intelligent robot is safely stopped, an ostomy patient presses the control button 11, an ostomy bag adsorber 803 in the supply cavity 8 is started, the control processor controls the adsorption telescopic push rod 816 to extend, under the action of the guide brackets 817 at two sides, the guide slide rod 815 extends along with the adsorption telescopic push rod 816, the sucker position sensor contacts with an ostomy bag in the storage cavity 801, data are transmitted to the control processor, the control processor sends out an instruction, the branch pipe control valve 820 is opened, the negative pressure cavity performs rapid negative pressure extraction action on the negative pressure sucker 818 through the sucker branch pipe 819, the ostomy bag is tightly attached to the negative pressure sucker 818, the adsorption telescopic push rod 816 is contracted, the negative pressure sucker 818 drives the ostomy bag to move upwards, after the adsorption telescopic push rod 816 is contracted, the control processor starts the adsorption motor 811, the adsorption motor 811 drives the adsorption synchronous wheel 813 on the adsorption rotating shaft 814 to rotate through the adsorption synchronous belt 812, therefore, the adsorption telescopic push rod 816 rotates, detection is carried out through an angle sensor on the adsorption motor 811, after a certain angle is rotated, the control processor controls the exhaust valve 821 to be opened, the branch pipe control valve 820 is closed, the ostomy bag falls to the ostomy bag transmission belt 805, meanwhile, the transmission motor 810 is started, the transmission motor 810 drives the driving transmission wheel 809 to move, the ostomy bag falling to the ostomy bag transmission belt 805 is driven by the ostomy bag transmission belt 805 to rotate from the transmission wheel I804 and from the transmission wheel II 807, then falls to the outlet slideway 808 and slides to the supply groove 9 through the supply port 10, the ostomy patient can conveniently take the bag, meanwhile, the control processor starts the timing module to time the ostomy patient, and the patient can be reminded to replace the ostomy bag conveniently; the negative pressure air pump performs negative pressure pumping action for the negative pressure cavity and detects through an air pressure sensor in the negative pressure cavity; at this point, the supply of ostomy bags is complete.

The fourth step: collecting and cleaning the ostomy bag;

the conveying position sensor on the collecting conveying belt 601 in the collecting cavity 6 carries out real-time detection, when the collecting conveying belt 601 is detected to be thrown into an ostomy bag through the throwing port 5, the control processor starts the collecting conveying motor 603, the collecting conveying motor 603 drives the ostomy bag to move through the collecting conveying belt 601, the throwing-in protective plate 602 plays a role in protection, the thrown ostomy bag falls onto the collecting conveying belt 601, the ostomy bag moves along with the collecting conveying belt 601 and falls into the storage cylinder 608 through the collecting port 605, and through continuous collection, when the approaching sensor in the storage cylinder 608 detects that a certain number of ostomy bags are collected, the control processor firstly controls the intelligent robot to realize movement, the cleaning step of the intelligent robot starts, the intelligent robot moves to a preset cleaning cylinder position, the control processor starts, the cleaning motor 609 sequentially passes through the side cleaning concave wheel 619, The side cleaning concave wheel 615, the side cleaning concave wheel 612 and the bottom guide concave wheel 611 perform tightening actions on a cleaning pull rope 625 on the bottom cleaning concave wheel 610, under the guiding action of the sliding cam 622 and the transfer cam 618, the storage cylinder 608 starts to move upwards through the storage port 12, the T-shaped sliding groove 623 slides on the sliding protrusion 607, after the cleaning motor 609 is tightened for a period of time, the anti-slip groove 624 rotates to slide to the sliding protrusion 607, the cleaning motor 609 continues to drive the cleaning pull rope 625 to tighten, the storage cylinder 608 starts to rotate forwards around the sliding protrusion 607, the storage cylinder 608 starts to incline outwards, a stoma bag in the storage cylinder 608 slides into the cleaning cylinder along the cleaning port 606, after the cleaning pull rope 625 is completely tightened, the stoma bag is cleaned completely, and the processor is controlled to close the cleaning motor 609; the control processor starts the reset motor 604, the reset motor 604 sequentially passes through the side reset concave wheel 614, the side reset concave wheel 616, the side reset concave wheel 617 and the top guide concave wheel 620 to tighten the reset pull rope 613 on the top reset concave wheel 621, the storage cylinder 608 starts to rotate reversely around the sliding protrusion 607, the storage cylinder 608 starts to tilt inwards, the storage cylinder 608 starts to slide into the storage port 12, the transfer cam 618 moves into the transfer groove, the reset motor 604 continues to tighten the reset pull rope 613, the storage cylinder 608 enters the collection cavity 6 under the action of the T-shaped sliding groove 623 and the sliding protrusion 607, after the tightening action of the reset pull rope 613 is completed, the storage cylinder 608 completely enters the collection cavity 6, the storage cylinder 608 is reset, and the ostomy bag collection work can be performed again.

Example 2

An intelligent robot for an ostomy patient, which is different from embodiment 1 in that: a negative pressure cavity is not arranged in the robot shell 1; the negative pressure suction cup 818 is connected to the negative pressure air pump through a suction cup branch pipe 819, and a branch pipe control valve 820 is provided on the suction cup branch pipe 819.

Example 3

An intelligent robot for an ostomy patient, which is different from embodiment 1 in that: the moving structure 705 includes a pair of moving grooves 704 formed on the bottom surface of the robot housing 1, and the electro-hydraulic push rods 731 are provided in the moving grooves 704.

Example 4

An intelligent robot for an ostomy patient, which is different from embodiment 1 in that: the ostomy bag conveying structure comprises a driving conveying wheel 809, a secondary conveying wheel III and an ostomy bag conveying belt 805 matched with the driving conveying wheel 809 and the secondary conveying wheel III, wherein ostomy bag conveying plates 806 are uniformly distributed on the ostomy bag conveying belt 805; the driving transmission wheel 809 is arranged in the horizontal direction from one side of the transmission wheel iii, and an outlet chute 808 matched with the ostomy bag transmission structure is arranged from the other side of the transmission wheel iii.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, but rather as the following description is intended to cover all modifications, equivalents and improvements falling within the spirit and scope of the present invention.

Claims

1. An intelligent robot for ostomy patients comprises a robot shell and is characterized in that a movement mechanism is arranged at the bottom end of the robot shell, a collection cavity, a supply cavity and a control mechanism are arranged in the robot shell, an ostomy bag collection mechanism is arranged in the collection cavity, and an ostomy bag supply mechanism is arranged in the supply cavity; the control mechanism comprises a panoramic camera arranged at the top end of the robot shell, an identification camera, a control processor arranged in the robot shell and a rechargeable battery pack electrically connected with the control processor, a timing module is arranged on the controller, and the control processor is electrically connected with a touch display screen and a sound alarm arranged on the robot shell; and the robot shell is provided with an operation button electrically connected with the control processor.

2. The ostomy patient intelligent robot of claim 1, wherein the movement mechanism comprises at least three support structures axially symmetric with respect to the bottom surface of the robot housing, at least three movable structures axially symmetric with respect to the bottom surface of the robot housing, and a moving structure in clearance fit with the support structures and the movable structures; any one of the supporting structures comprises a fixed sleeve which is obliquely arranged on the bottom surface of the robot shell, a movable sleeve which is in threaded connection with the fixed sleeve is arranged on the fixed sleeve, a supporting motor is arranged in the fixed sleeve and is connected with a telescopic rotating shaft which is arranged in the movable sleeve and is connected with the movable sleeve, a rotating shaft connecting rod is arranged at one end of the telescopic rotating shaft, which is far away from the movable sleeve, and the rotating shaft connecting rod is fixedly connected with the fixed sleeve; the bottom end of the movable sleeve is provided with a supporting chassis which is rotationally connected with the movable sleeve; any movable structure comprises a supporting leg groove in clearance fit with the fixed sleeve, a telescopic movable supporting leg in clearance fit with the supporting leg groove is arranged in the supporting leg groove, the telescopic movable supporting leg comprises a supporting leg supporting rod arranged in the supporting leg groove, and a movable wheel structure and an adjusting frame matched with the movable wheel structure are arranged at the bottom end of the supporting leg supporting rod; and the support leg support rods are provided with support leg steering mechanisms.

3. An intelligent robot for ostomy patients as claimed in claim 2, wherein the movable wheel structure comprises a pair of movable wheels, an adjusting strut is provided on the movable shaft of any one of the movable wheels, a matching adjusting sleeve is provided on the top end of the adjusting strut, and the adjusting sleeve is connected with an adjusting rotating shaft provided on the adjusting bracket; the adjusting sleeves are provided with adjusting gears which are connected with adjusting motors arranged on the adjusting frames; the adjusting bracket is provided with a pair of limiters matched with the adjusting support rod, each limiter comprises a limiting rod which is arranged on the adjusting support rod and is rotatably connected with the adjusting support rod, each limiting rod is matched with a limiting groove which is uniformly distributed on the side surface of the support rod of the support leg, and the bottom end of each limiting groove is provided with a reset bulge; one side of the limiting rod, which is close to the supporting rod of the supporting foot, is provided with an adjusting electromagnet, and the adjusting electromagnet is matched with a reset electromagnet arranged on the supporting rod of the supporting foot; and the limiting rod is provided with a return spring connected with the adjusting support rod.

4. An intelligent robot for ostomy patients as claimed in claim 3, wherein the moving structure comprises a moving groove arranged on the bottom surface of the robot housing, an electro-hydraulic push rod is arranged in the moving groove, a moving bracket is arranged at the movable end of the electro-hydraulic push rod, a moving wheel is arranged at the bottom end of the moving bracket, a moving shaft matched with the moving bracket is arranged on the axle center of the moving wheel, and the moving shaft is connected with a moving motor arranged on the moving bracket through a moving speed reducing wheel; the electric hydraulic push rod is rotationally connected with the moving groove through a moving bearing, and a moving synchronous wheel is arranged on the moving bearing; the supporting leg steering mechanism comprises a steering bearing arranged on the supporting leg supporting rod and a steering synchronizing wheel arranged at the top end of the supporting leg supporting rod, and the steering bearing is connected with the supporting leg groove; the steering synchronous wheel and the moving synchronous wheel are connected with a steering motor arranged in the robot shell through the steering synchronous belts connected end to end, and the diameters of the steering synchronous wheel and the moving synchronous wheel are equal.

5. An ostomy patient intelligent robot as claimed in claim 4, wherein the ostomy bag supply mechanism comprises a storage chamber which cooperates with a storage opening provided in the robot housing, the storage opening being provided with a storage sealing lid; the supply cavity is internally provided with an ostomy bag transmission structure matched with the storage cavity, and the ostomy bag transmission structure comprises an ostomy bag transmission structure and an ostomy bag absorber matched with the ostomy bag transmission structure; the ostomy bag conveying structure comprises a driving conveying wheel, a driven conveying wheel I, a driven conveying wheel II and an ostomy bag conveying belt matched with the driving conveying wheel, the driven conveying wheel I and the driven conveying wheel II, wherein ostomy bag driving plates are uniformly distributed on the ostomy bag conveying belt; the driving transmission wheel is arranged right below the driven transmission wheel I, the driven transmission wheel II is arranged obliquely above the driven transmission wheel I, an outlet slide way is arranged on one side of the driven transmission wheel II, which is far away from the driven transmission wheel I, and the outlet slide way is matched and communicated with a supply groove arranged on the robot shell; the driving transmission wheel is connected with a transmission motor.

6. The ostomy patient intelligent robot of claim 5, wherein the ostomy bag absorber comprises an adsorption telescopic push rod, guide slide bars are arranged on both sides of the adsorption telescopic push rod, and the guide slide bars are connected with the movable end of the adsorption telescopic push rod through guide brackets; the movable end of the adsorption telescopic push rod is provided with a negative pressure sucker which is communicated with a negative pressure cavity arranged in the supply cavity through a sucker branch pipe, and the negative pressure cavity is provided with a negative pressure air pump; the adsorption telescopic push rod is fixed in the supply cavity through an adsorption rotating shaft, an adsorption motor is arranged in the supply cavity, and the adsorption motor is connected with an adsorption synchronous wheel arranged on the adsorption rotating shaft through an adsorption synchronous belt; the bottom end of the guide sliding rod is provided with an anti-falling bulge; branch pipe control valves are arranged on the sucker branch pipes; and the negative pressure sucker is provided with an exhaust valve and a sucker position sensor.

7. The ostomy patient intelligent robot as claimed in claim 6, wherein the ostomy bag collecting mechanism comprises a feeding port arranged on the robot housing and a collecting conveyor belt arranged in the collecting cavity and matched with the feeding port, and one end of the collecting conveyor belt far away from the feeding port is provided with a storage and cleaning structure; a throwing protective plate matched with the collecting conveyor belt is arranged on the inner side of the throwing port; criss-cross protective lines are laid on the collecting and conveying belt, and a plurality of conveying position sensors are arranged on the collecting and conveying belt.

8. An ostomy patient intelligent robot as claimed in claim 7, wherein the storage cleaning structure comprises a storage cylinder, a sliding structure matched with the collection cavity is arranged on the outer side surface of the storage cylinder; a T-shaped sliding groove is formed in one side, close to the robot shell, of the storage cylinder, a plurality of side cleaning concave wheels are arranged on the opposite side, and a bottom cleaning concave wheel and a bottom guide concave wheel are arranged on the bottom surface of the storage cylinder; the T-shaped sliding groove is matched with the sliding protrusion arranged on the collecting cavity, and the bottom end of the T-shaped sliding groove is provided with a rotating anti-falling groove; a cleaning pull rope is arranged on the bottom cleaning concave wheel and is matched with a cleaning motor arranged on the robot shell through the bottom guide concave wheel and the side cleaning concave wheel in sequence; the storage cylinder side is equipped with the side with the crisscross interval complex of side clearance concave wheel and resets the concave wheel, and the top surface is equipped with the concave wheel that resets and pushes up direction concave wheel, pushes up to reset and is equipped with the stay cord that resets on the concave wheel that resets, and the stay cord that resets loops through and pushes up direction concave wheel, side and resets the concave wheel and cooperate with the reset motor who sets up in collecting the intracavity.

9. The intelligent robot for ostomy patients as claimed in claim 8, wherein the sliding structure comprises a plurality of sliding cams arranged on the T-shaped sliding groove, a plurality of moving protrusions in staggered clearance fit with the side cleaning concave wheel and the reset concave wheel are arranged on one side opposite to the T-shaped sliding groove, and transfer cams in rotary fit with the moving protrusions are arranged on the moving protrusions; the sliding cam is matched with a sliding groove arranged in the collecting cavity; the transfer cam is matched with a transfer groove arranged in the collection cavity; the robot shell is provided with a storage port matched with the top surface of the storage cylinder; one side of the storage cylinder, which is close to the collection conveying belt, is provided with a collection port, and the opposite side is provided with a cleaning port; and a proximity sensor is arranged in the storage cylinder.

10. The intelligent robot for ostomy patients as claimed in claim 9, wherein the control processor is electrically connected with the panoramic camera, the identification camera, the support motor, the adjustment electromagnet, the reset electromagnet, the electro-hydraulic push rod, the moving motor, the steering motor, the transmission motor, the adsorption telescopic push rod, the adsorption motor, the exhaust valve, the negative pressure air pump, the branch pipe control valve, the micro-folding motor, the suction cup position sensor, the transmission position sensor, the cleaning motor, the reset motor and the proximity sensor; and a charging socket matched with the rechargeable battery pack is arranged on the robot shell.